/*
 * Copyright (c) 2023, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

/*
 *  ============ ti_msp_dl_config.c =============
 *  Configured MSPM0 DriverLib module definitions
 *
 *  DO NOT EDIT - This file is generated for the MSPM0G350X
 *  by the SysConfig tool.
 */

#include "ti_msp_dl_config.h"

DL_TimerA_backupConfig gMOTOR_PWMBackup;
DL_SPI_backupConfig gOLED_SPIBackup;

/*
 *  ======== SYSCFG_DL_init ========
 *  Perform any initialization needed before using any board APIs
 */
SYSCONFIG_WEAK void SYSCFG_DL_init(void)
{
    SYSCFG_DL_initPower();
    SYSCFG_DL_GPIO_init();
    /* Module-Specific Initializations*/
    SYSCFG_DL_SYSCTL_init();
    SYSCFG_DL_MOTOR_PWM_init();
    SYSCFG_DL_GRAY_I2C_init();
    SYSCFG_DL_IMU_I2C_init();
    SYSCFG_DL_DEBUG_USART_init();
    SYSCFG_DL_DEBUG_PID_init();
    SYSCFG_DL_OLED_SPI_init();
    SYSCFG_DL_DMA_init();
    SYSCFG_DL_SYSTICK_init();
    /* Ensure backup structures have no valid state */
	gMOTOR_PWMBackup.backupRdy 	= false;

	gOLED_SPIBackup.backupRdy 	= false;

}
/*
 * User should take care to save and restore register configuration in application.
 * See Retention Configuration section for more details.
 */
SYSCONFIG_WEAK bool SYSCFG_DL_saveConfiguration(void)
{
    bool retStatus = true;

	retStatus &= DL_TimerA_saveConfiguration(MOTOR_PWM_INST, &gMOTOR_PWMBackup);
	retStatus &= DL_SPI_saveConfiguration(OLED_SPI_INST, &gOLED_SPIBackup);

    return retStatus;
}


SYSCONFIG_WEAK bool SYSCFG_DL_restoreConfiguration(void)
{
    bool retStatus = true;

	retStatus &= DL_TimerA_restoreConfiguration(MOTOR_PWM_INST, &gMOTOR_PWMBackup, false);
	retStatus &= DL_SPI_restoreConfiguration(OLED_SPI_INST, &gOLED_SPIBackup);

    return retStatus;
}

SYSCONFIG_WEAK void SYSCFG_DL_initPower(void)
{
    DL_GPIO_reset(GPIOA);
    DL_GPIO_reset(GPIOB);
    DL_TimerA_reset(MOTOR_PWM_INST);
    DL_I2C_reset(GRAY_I2C_INST);
    DL_I2C_reset(IMU_I2C_INST);
    DL_UART_Main_reset(DEBUG_USART_INST);
    DL_UART_Main_reset(DEBUG_PID_INST);
    DL_SPI_reset(OLED_SPI_INST);



    DL_GPIO_enablePower(GPIOA);
    DL_GPIO_enablePower(GPIOB);
    DL_TimerA_enablePower(MOTOR_PWM_INST);
    DL_I2C_enablePower(GRAY_I2C_INST);
    DL_I2C_enablePower(IMU_I2C_INST);
    DL_UART_Main_enablePower(DEBUG_USART_INST);
    DL_UART_Main_enablePower(DEBUG_PID_INST);
    DL_SPI_enablePower(OLED_SPI_INST);


    delay_cycles(POWER_STARTUP_DELAY);
}

SYSCONFIG_WEAK void SYSCFG_DL_GPIO_init(void)
{

    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C0_IOMUX,GPIO_MOTOR_PWM_C0_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C0_PORT, GPIO_MOTOR_PWM_C0_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C1_IOMUX,GPIO_MOTOR_PWM_C1_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C1_PORT, GPIO_MOTOR_PWM_C1_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C2_IOMUX,GPIO_MOTOR_PWM_C2_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C2_PORT, GPIO_MOTOR_PWM_C2_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C3_IOMUX,GPIO_MOTOR_PWM_C3_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C3_PORT, GPIO_MOTOR_PWM_C3_PIN);

    DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_GRAY_I2C_IOMUX_SDA,
        GPIO_GRAY_I2C_IOMUX_SDA_FUNC, DL_GPIO_INVERSION_DISABLE,
        DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE,
        DL_GPIO_WAKEUP_DISABLE);
    DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_GRAY_I2C_IOMUX_SCL,
        GPIO_GRAY_I2C_IOMUX_SCL_FUNC, DL_GPIO_INVERSION_DISABLE,
        DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE,
        DL_GPIO_WAKEUP_DISABLE);
    DL_GPIO_enableHiZ(GPIO_GRAY_I2C_IOMUX_SDA);
    DL_GPIO_enableHiZ(GPIO_GRAY_I2C_IOMUX_SCL);
    DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_IMU_I2C_IOMUX_SDA,
        GPIO_IMU_I2C_IOMUX_SDA_FUNC, DL_GPIO_INVERSION_DISABLE,
        DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE,
        DL_GPIO_WAKEUP_DISABLE);
    DL_GPIO_initPeripheralInputFunctionFeatures(GPIO_IMU_I2C_IOMUX_SCL,
        GPIO_IMU_I2C_IOMUX_SCL_FUNC, DL_GPIO_INVERSION_DISABLE,
        DL_GPIO_RESISTOR_NONE, DL_GPIO_HYSTERESIS_DISABLE,
        DL_GPIO_WAKEUP_DISABLE);
    DL_GPIO_enableHiZ(GPIO_IMU_I2C_IOMUX_SDA);
    DL_GPIO_enableHiZ(GPIO_IMU_I2C_IOMUX_SCL);

    DL_GPIO_initPeripheralOutputFunction(
        GPIO_DEBUG_USART_IOMUX_TX, GPIO_DEBUG_USART_IOMUX_TX_FUNC);
    DL_GPIO_initPeripheralInputFunction(
        GPIO_DEBUG_USART_IOMUX_RX, GPIO_DEBUG_USART_IOMUX_RX_FUNC);
    DL_GPIO_initPeripheralOutputFunction(
        GPIO_DEBUG_PID_IOMUX_TX, GPIO_DEBUG_PID_IOMUX_TX_FUNC);

    DL_GPIO_initPeripheralOutputFunction(
        GPIO_OLED_SPI_IOMUX_SCLK, GPIO_OLED_SPI_IOMUX_SCLK_FUNC);
    DL_GPIO_initPeripheralOutputFunction(
        GPIO_OLED_SPI_IOMUX_PICO, GPIO_OLED_SPI_IOMUX_PICO_FUNC);
    DL_GPIO_initPeripheralOutputFunction(
        GPIO_OLED_SPI_IOMUX_CS0, GPIO_OLED_SPI_IOMUX_CS0_FUNC);

    DL_GPIO_initDigitalOutputFeatures(USER_LED_PIN_0_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE);

    DL_GPIO_initDigitalOutputFeatures(BEEP_PIN_27_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE);

    DL_GPIO_initDigitalOutput(SPI_OLED_RST_IOMUX);

    DL_GPIO_initDigitalOutput(SPI_OLED_DC_IOMUX);

    DL_GPIO_initDigitalInputFeatures(USER_BUTTON_BUTTON_1_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInputFeatures(USER_BUTTON_BUTTON_2_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInputFeatures(USER_BUTTON_BUTTON_3_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInputFeatures(ENCORDER_RIGHT_PULSE_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInputFeatures(ENCORDER_LEFT_PULSE_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInputFeatures(ENCORDER_RIGHT_DIR_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInputFeatures(ENCORDER_LEFT_DIR_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_NONE,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_clearPins(GPIOA, BEEP_PIN_27_PIN);
    DL_GPIO_setPins(GPIOA, USER_LED_PIN_0_PIN);
    DL_GPIO_enableOutput(GPIOA, USER_LED_PIN_0_PIN |
		BEEP_PIN_27_PIN);
    DL_GPIO_clearPins(GPIOB, SPI_OLED_RST_PIN);
    DL_GPIO_setPins(GPIOB, SPI_OLED_DC_PIN);
    DL_GPIO_enableOutput(GPIOB, SPI_OLED_RST_PIN |
		SPI_OLED_DC_PIN);
    DL_GPIO_setLowerPinsPolarity(GPIOB, DL_GPIO_PIN_4_EDGE_RISE_FALL |
		DL_GPIO_PIN_5_EDGE_RISE_FALL);
    DL_GPIO_clearInterruptStatus(GPIOB, ENCORDER_RIGHT_PULSE_PIN |
		ENCORDER_LEFT_PULSE_PIN);
    DL_GPIO_enableInterrupt(GPIOB, ENCORDER_RIGHT_PULSE_PIN |
		ENCORDER_LEFT_PULSE_PIN);

}


static const DL_SYSCTL_SYSPLLConfig gSYSPLLConfig = {
    .inputFreq              = DL_SYSCTL_SYSPLL_INPUT_FREQ_32_48_MHZ,
	.rDivClk2x              = 1,
	.rDivClk1               = 0,
	.rDivClk0               = 0,
	.enableCLK2x            = DL_SYSCTL_SYSPLL_CLK2X_DISABLE,
	.enableCLK1             = DL_SYSCTL_SYSPLL_CLK1_ENABLE,
	.enableCLK0             = DL_SYSCTL_SYSPLL_CLK0_ENABLE,
	.sysPLLMCLK             = DL_SYSCTL_SYSPLL_MCLK_CLK0,
	.sysPLLRef              = DL_SYSCTL_SYSPLL_REF_SYSOSC,
	.qDiv                   = 4,
	.pDiv                   = DL_SYSCTL_SYSPLL_PDIV_1
};
SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void)
{

	//Low Power Mode is configured to be SLEEP0
    DL_SYSCTL_setBORThreshold(DL_SYSCTL_BOR_THRESHOLD_LEVEL_0);
    DL_SYSCTL_setFlashWaitState(DL_SYSCTL_FLASH_WAIT_STATE_2);

    
	DL_SYSCTL_setSYSOSCFreq(DL_SYSCTL_SYSOSC_FREQ_BASE);
    DL_SYSCTL_configSYSPLL((DL_SYSCTL_SYSPLLConfig *) &gSYSPLLConfig);
    DL_SYSCTL_setULPCLKDivider(DL_SYSCTL_ULPCLK_DIV_2);
    DL_SYSCTL_enableMFCLK();
    DL_SYSCTL_enableMFPCLK();
	DL_SYSCTL_setMFPCLKSource(DL_SYSCTL_MFPCLK_SOURCE_SYSOSC);
    DL_SYSCTL_setMCLKSource(SYSOSC, HSCLK, DL_SYSCTL_HSCLK_SOURCE_SYSPLL);
    /* INT_GROUP1 Priority */
    NVIC_SetPriority(GPIOB_INT_IRQn, 2);

}


/*
 * Timer clock configuration to be sourced by  / 2 (40000000 Hz)
 * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
 *   8000000 Hz = 40000000 Hz / (2 * (4 + 1))
 */
static const DL_TimerA_ClockConfig gMOTOR_PWMClockConfig = {
    .clockSel = DL_TIMER_CLOCK_BUSCLK,
    .divideRatio = DL_TIMER_CLOCK_DIVIDE_2,
    .prescale = 4U
};

static const DL_TimerA_PWMConfig gMOTOR_PWMConfig = {
    .pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN_UP,
    .period = 1000,
    .isTimerWithFourCC = true,
    .startTimer = DL_TIMER_START,
};

SYSCONFIG_WEAK void SYSCFG_DL_MOTOR_PWM_init(void) {

    DL_TimerA_setClockConfig(
        MOTOR_PWM_INST, (DL_TimerA_ClockConfig *) &gMOTOR_PWMClockConfig);

    DL_TimerA_initPWMMode(
        MOTOR_PWM_INST, (DL_TimerA_PWMConfig *) &gMOTOR_PWMConfig);

    // Set Counter control to the smallest CC index being used
    DL_TimerA_setCounterControl(MOTOR_PWM_INST,DL_TIMER_CZC_CCCTL0_ZCOND,DL_TIMER_CAC_CCCTL0_ACOND,DL_TIMER_CLC_CCCTL0_LCOND);

    DL_TimerA_setCaptureCompareOutCtl(MOTOR_PWM_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
		DL_TIMERA_CAPTURE_COMPARE_0_INDEX);

    DL_TimerA_setCaptCompUpdateMethod(MOTOR_PWM_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_0_INDEX);
    DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 0, DL_TIMER_CC_0_INDEX);

    DL_TimerA_setCaptureCompareOutCtl(MOTOR_PWM_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
		DL_TIMERA_CAPTURE_COMPARE_1_INDEX);

    DL_TimerA_setCaptCompUpdateMethod(MOTOR_PWM_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_1_INDEX);
    DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 0, DL_TIMER_CC_1_INDEX);

    DL_TimerA_setCaptureCompareOutCtl(MOTOR_PWM_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
		DL_TIMERA_CAPTURE_COMPARE_2_INDEX);

    DL_TimerA_setCaptCompUpdateMethod(MOTOR_PWM_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_2_INDEX);
    DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 0, DL_TIMER_CC_2_INDEX);

    DL_TimerA_setCaptureCompareOutCtl(MOTOR_PWM_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
		DL_TIMERA_CAPTURE_COMPARE_3_INDEX);

    DL_TimerA_setCaptCompUpdateMethod(MOTOR_PWM_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_3_INDEX);
    DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 0, DL_TIMER_CC_3_INDEX);

    DL_TimerA_enableClock(MOTOR_PWM_INST);


    
    DL_TimerA_setCCPDirection(MOTOR_PWM_INST , DL_TIMER_CC0_OUTPUT | DL_TIMER_CC1_OUTPUT | DL_TIMER_CC2_OUTPUT | DL_TIMER_CC3_OUTPUT );


}


static const DL_I2C_ClockConfig gGRAY_I2CClockConfig = {
    .clockSel = DL_I2C_CLOCK_BUSCLK,
    .divideRatio = DL_I2C_CLOCK_DIVIDE_1,
};

SYSCONFIG_WEAK void SYSCFG_DL_GRAY_I2C_init(void) {

    DL_I2C_setClockConfig(GRAY_I2C_INST,
        (DL_I2C_ClockConfig *) &gGRAY_I2CClockConfig);
    DL_I2C_disableAnalogGlitchFilter(GRAY_I2C_INST);

    /* Configure Controller Mode */
    DL_I2C_resetControllerTransfer(GRAY_I2C_INST);
    /* Set frequency to 400000 Hz*/
    DL_I2C_setTimerPeriod(GRAY_I2C_INST, 9);
    DL_I2C_setControllerTXFIFOThreshold(GRAY_I2C_INST, DL_I2C_TX_FIFO_LEVEL_BYTES_7);
    DL_I2C_setControllerRXFIFOThreshold(GRAY_I2C_INST, DL_I2C_RX_FIFO_LEVEL_BYTES_1);
    DL_I2C_disableControllerClockStretching(GRAY_I2C_INST);


    /* Enable module */
    DL_I2C_enableController(GRAY_I2C_INST);


}
static const DL_I2C_ClockConfig gIMU_I2CClockConfig = {
    .clockSel = DL_I2C_CLOCK_BUSCLK,
    .divideRatio = DL_I2C_CLOCK_DIVIDE_1,
};

SYSCONFIG_WEAK void SYSCFG_DL_IMU_I2C_init(void) {

    DL_I2C_setClockConfig(IMU_I2C_INST,
        (DL_I2C_ClockConfig *) &gIMU_I2CClockConfig);
    DL_I2C_disableAnalogGlitchFilter(IMU_I2C_INST);

    /* Configure Controller Mode */
    DL_I2C_resetControllerTransfer(IMU_I2C_INST);
    /* Set frequency to 400000 Hz*/
    DL_I2C_setTimerPeriod(IMU_I2C_INST, 9);
    DL_I2C_setControllerTXFIFOThreshold(IMU_I2C_INST, DL_I2C_TX_FIFO_LEVEL_BYTES_7);
    DL_I2C_setControllerRXFIFOThreshold(IMU_I2C_INST, DL_I2C_RX_FIFO_LEVEL_BYTES_1);
    DL_I2C_enableMultiControllerMode(IMU_I2C_INST);
    DL_I2C_disableControllerClockStretching(IMU_I2C_INST);

    /* Configure DMA Event 1 */
    DL_I2C_enableDMAEvent(IMU_I2C_INST, DL_I2C_EVENT_ROUTE_1,
                          DL_I2C_DMA_INTERRUPT_CONTROLLER_RXFIFO_TRIGGER);

    /* Enable module */
    DL_I2C_enableController(IMU_I2C_INST);


}


static const DL_UART_Main_ClockConfig gDEBUG_USARTClockConfig = {
    .clockSel    = DL_UART_MAIN_CLOCK_MFCLK,
    .divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};

static const DL_UART_Main_Config gDEBUG_USARTConfig = {
    .mode        = DL_UART_MAIN_MODE_NORMAL,
    .direction   = DL_UART_MAIN_DIRECTION_TX_RX,
    .flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
    .parity      = DL_UART_MAIN_PARITY_NONE,
    .wordLength  = DL_UART_MAIN_WORD_LENGTH_8_BITS,
    .stopBits    = DL_UART_MAIN_STOP_BITS_ONE
};

SYSCONFIG_WEAK void SYSCFG_DL_DEBUG_USART_init(void)
{
    DL_UART_Main_setClockConfig(DEBUG_USART_INST, (DL_UART_Main_ClockConfig *) &gDEBUG_USARTClockConfig);

    DL_UART_Main_init(DEBUG_USART_INST, (DL_UART_Main_Config *) &gDEBUG_USARTConfig);
    /*
     * Configure baud rate by setting oversampling and baud rate divisors.
     *  Target baud rate: 115200
     *  Actual baud rate: 115107.91
     */
    DL_UART_Main_setOversampling(DEBUG_USART_INST, DL_UART_OVERSAMPLING_RATE_16X);
    DL_UART_Main_setBaudRateDivisor(DEBUG_USART_INST, DEBUG_USART_IBRD_4_MHZ_115200_BAUD, DEBUG_USART_FBRD_4_MHZ_115200_BAUD);


    /* Configure Interrupts */
    DL_UART_Main_enableInterrupt(DEBUG_USART_INST,
                                 DL_UART_MAIN_INTERRUPT_RX);
    /* Setting the Interrupt Priority */
    NVIC_SetPriority(DEBUG_USART_INST_INT_IRQN, 1);


    DL_UART_Main_enable(DEBUG_USART_INST);
}

static const DL_UART_Main_ClockConfig gDEBUG_PIDClockConfig = {
    .clockSel    = DL_UART_MAIN_CLOCK_MFCLK,
    .divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};

static const DL_UART_Main_Config gDEBUG_PIDConfig = {
    .mode        = DL_UART_MAIN_MODE_NORMAL,
    .direction   = DL_UART_MAIN_DIRECTION_TX,
    .flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
    .parity      = DL_UART_MAIN_PARITY_NONE,
    .wordLength  = DL_UART_MAIN_WORD_LENGTH_8_BITS,
    .stopBits    = DL_UART_MAIN_STOP_BITS_ONE
};

SYSCONFIG_WEAK void SYSCFG_DL_DEBUG_PID_init(void)
{
    DL_UART_Main_setClockConfig(DEBUG_PID_INST, (DL_UART_Main_ClockConfig *) &gDEBUG_PIDClockConfig);

    DL_UART_Main_init(DEBUG_PID_INST, (DL_UART_Main_Config *) &gDEBUG_PIDConfig);
    /*
     * Configure baud rate by setting oversampling and baud rate divisors.
     *  Target baud rate: 115200
     *  Actual baud rate: 115107.91
     */
    DL_UART_Main_setOversampling(DEBUG_PID_INST, DL_UART_OVERSAMPLING_RATE_16X);
    DL_UART_Main_setBaudRateDivisor(DEBUG_PID_INST, DEBUG_PID_IBRD_4_MHZ_115200_BAUD, DEBUG_PID_FBRD_4_MHZ_115200_BAUD);



    DL_UART_Main_enable(DEBUG_PID_INST);
}

static const DL_SPI_Config gOLED_SPI_config = {
    .mode        = DL_SPI_MODE_CONTROLLER,
    .frameFormat = DL_SPI_FRAME_FORMAT_MOTO4_POL0_PHA0,
    .parity      = DL_SPI_PARITY_NONE,
    .dataSize    = DL_SPI_DATA_SIZE_8,
    .bitOrder    = DL_SPI_BIT_ORDER_MSB_FIRST,
    .chipSelectPin = DL_SPI_CHIP_SELECT_0,
};

static const DL_SPI_ClockConfig gOLED_SPI_clockConfig = {
    .clockSel    = DL_SPI_CLOCK_BUSCLK,
    .divideRatio = DL_SPI_CLOCK_DIVIDE_RATIO_1
};

SYSCONFIG_WEAK void SYSCFG_DL_OLED_SPI_init(void) {
    DL_SPI_setClockConfig(OLED_SPI_INST, (DL_SPI_ClockConfig *) &gOLED_SPI_clockConfig);

    DL_SPI_init(OLED_SPI_INST, (DL_SPI_Config *) &gOLED_SPI_config);

    /* Configure Controller mode */
    /*
     * Set the bit rate clock divider to generate the serial output clock
     *     outputBitRate = (spiInputClock) / ((1 + SCR) * 2)
     *     4000000 = (80000000)/((1 + 9) * 2)
     */
    DL_SPI_setBitRateSerialClockDivider(OLED_SPI_INST, 9);
    /* Calculated time for delayed sampling: 162.50 ns */
    DL_SPI_setDelayedSampling(OLED_SPI_INST, 13);
    /* Set RX and TX FIFO threshold levels */
    DL_SPI_setFIFOThreshold(OLED_SPI_INST, DL_SPI_RX_FIFO_LEVEL_ONE_FRAME, DL_SPI_TX_FIFO_LEVEL_3_4_EMPTY);

    /* Enable module */
    DL_SPI_enable(OLED_SPI_INST);
}

static const DL_DMA_Config gDMA_I2C_READConfig = {
    .transferMode   = DL_DMA_SINGLE_TRANSFER_MODE,
    .extendedMode   = DL_DMA_NORMAL_MODE,
    .destIncrement  = DL_DMA_ADDR_INCREMENT,
    .srcIncrement   = DL_DMA_ADDR_UNCHANGED,
    .destWidth      = DL_DMA_WIDTH_BYTE,
    .srcWidth       = DL_DMA_WIDTH_BYTE,
    .trigger        = IMU_I2C_INST_DMA_TRIGGER,
    .triggerType    = DL_DMA_TRIGGER_TYPE_EXTERNAL,
};

SYSCONFIG_WEAK void SYSCFG_DL_DMA_I2C_READ_init(void)
{
    DL_DMA_initChannel(DMA, DMA_I2C_READ_CHAN_ID , (DL_DMA_Config *) &gDMA_I2C_READConfig);
}
SYSCONFIG_WEAK void SYSCFG_DL_DMA_init(void){
    SYSCFG_DL_DMA_I2C_READ_init();
}


SYSCONFIG_WEAK void SYSCFG_DL_SYSTICK_init(void)
{
    /*
     * Initializes the SysTick period to 1.00 ms,
     * enables the interrupt, and starts the SysTick Timer
     */
    DL_SYSTICK_config(80000);
}

